I'm wondering if it is possible to remap tf frames from inside a launch file (or other similar means) in the same way it is possible to remap topic names of published topics? My use case is that I have two Kinects between which I would like to define a transform. However, the base frame_id for the kinect is defined in the openni_driver.cpp file. This means that when I run two kinects they broadcast the same tf frame of /openni_rgb_optical_frame. Any suggestions besides modifying the driver would be very much appreciated. Thanks for your time.